CN207208420U - A kind of stretching, extension drive mechanism for robot - Google Patents
A kind of stretching, extension drive mechanism for robot Download PDFInfo
- Publication number
- CN207208420U CN207208420U CN201720936011.XU CN201720936011U CN207208420U CN 207208420 U CN207208420 U CN 207208420U CN 201720936011 U CN201720936011 U CN 201720936011U CN 207208420 U CN207208420 U CN 207208420U
- Authority
- CN
- China
- Prior art keywords
- vertical
- drive
- drive rod
- horizontal
- tooth wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
Abstract
The utility model discloses a kind of stretching, extension drive mechanism for robot, including stretching, extension motor and two transmission components；Each transmission component includes drive bevel gear, driven wheel of differential, vertical slide bar and horizontal drive bar assembly；Drive bevel gear includes driving tooth wheel portion and horizontal stud portion, and driving tooth wheel portion is fixedly installed on corresponding driving output shaft, and the reciprocating rotation on vertical guide；Each driven wheel of differential includes driven tooth wheel portion, installation portion and vertical stud portion；Driven tooth wheel portion reciprocating rotation in the horizontal plane；Horizontal drive bar assembly includes main drive rod and two secondary drive rods positioned at main drive rod both sides, and main drive rod and secondary drive rod are horizontally disposed；Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, and the vertical screw that place is provided with the bottom of vertical slide bar and vertical stud portion is adapted to, the top of vertical slide bar is provided with the connecting portion being connected with main drive rod.The utility model is multiple functional, rational in infrastructure.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of stretching, extension drive mechanism for robot.
Background technology
Existing underwater robot uses fixed supporting mechanism mostly, not foldable, therefore space-consuming is larger, and is difficult to
Carry；The application is directed to disadvantages mentioned above, researches and develops the folding type supporting mechanism for robot, and for driving the collapsible branch
The stretching, extension drive mechanism that support mechanism stretches and folded.
Utility model content
The purpose of this utility model is to provide a kind of multiple functional, rational in infrastructure stretching, extension driving machine for robot
Structure.
Realizing the technical scheme of the utility model purpose is：A kind of stretching, extension drive mechanism for robot, including stretching, extension
Motor and two transmission components；Each transmission component includes drive bevel gear, driven wheel of differential, vertical slide bar and horizontal drive
Bar assembly；Drive bevel gear includes driving tooth wheel portion and horizontal stud portion, and driving tooth wheel portion is fixedly installed on a corresponding driving
On output shaft, and the reciprocating rotation on vertical guide；Each driven wheel of differential includes driven tooth wheel portion, installation portion and vertical stud portion；
Driven tooth wheel portion reciprocating rotation in the horizontal plane；Horizontal drive bar assembly include main drive rod and positioned at main drive rod both sides two
Individual secondary drive rod, main drive rod and secondary drive rod are horizontally disposed；The two side ends of main drive rod are equipped with the cunning of evagination
Projection is connect, a side of the main drive rod of adjoining of each secondary drive rod is provided with center slide opening, during each sliding projection insertion is corresponding one
Heart slide opening can simultaneously reciprocatingly slide along the center slide opening；Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, vertical
The vertical screw that place is provided with the bottom of slide bar and vertical stud portion is adapted to, the top of vertical slide bar is provided with to be connected with main drive rod
Connecting portion；The driving tooth wheel portion of drive bevel gear and horizontal stud portion are made into integration, the driven tooth wheel portion of each driven wheel of differential,
Installation portion and vertical stud portion are made into integration；Connecting portion is the collar being set on main drive rod.
In such scheme, stretching, extension motor is a double shaft-protruding type motor, and motor is stretched out at the both ends of its drive shaft
It is outer to form two driving output shafts；Two transmission component actions of the stretching, extension motor synchronous drive.
The utility model has positive effect：It is relatively reasonable in structure compact, it is multiple functional, corresponding two can either be driven
Individual external folding landing leg synchronous extension and folding, moreover it is possible to synchronously drive two folding landing legs away from each other and close.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the present utility model；
Fig. 2 is that a kind of stereochemical structure that folded state is in using the made robot of stretching, extension drive mechanism shown in Fig. 1 is illustrated
Figure；
Fig. 3 is a kind of dimensional structure diagram when robot is from another angle shown in Fig. 2；
Fig. 4 is a kind of explosive view of robot shown in Fig. 2；
Fig. 5 is a kind of half section structure diagram of robot shown in Fig. 2；
Fig. 6 is a kind of dimensional structure diagram that robot shown in Fig. 2 is in extended configuration.
Embodiment
（Embodiment 1）
The present embodiment is a kind of stretching, extension drive mechanism 4 for robot, as shown in Figure 1, including a stretching, extension driving electricity
Machine 41 and two transmission components 5.
Stretching, extension motor 41 is a double shaft-protruding type motor, and the both ends of its drive shaft 411 are stretched out outside motor, so as to
Form two driving output shafts 412.
Each transmission component 5 includes drive bevel gear 51, driven wheel of differential 52, vertical slide bar 53 and horizontal drive bar assembly
54；
Drive bevel gear includes driving tooth wheel portion 511 and horizontal stud portion 512, driving tooth wheel portion are fixedly installed on corresponding one
On individual driving output shaft, and the reciprocating rotation on vertical guide；In the present embodiment, the driving tooth wheel portion of drive bevel gear and horizontal spiral shell
Post portion is made into integration, and both are synchronized with the movement；When drive bevel gear, which is extended motor, to be driven, horizontal stud portion also turns therewith
It is dynamic.
Each driven wheel of differential includes driven tooth wheel portion 521, installation portion 522 and vertical stud portion 523；Driven tooth wheel portion is in water
Reciprocating rotation in plane；In the present embodiment, driven tooth wheel portion, installation portion and the system of vertical stud portion one of each driven wheel of differential
Into.When each drive bevel gear rotates, a corresponding driven wheel of differential is driven to rotate, namely the corresponding driven tooth wheel portion of synchronous drive
With vertical stud portion synchronous axial system.
Horizontal drive bar assembly includes main drive rod 541 and two secondary drive rods 543 positioned at main drive rod both sides, main drive
Lever and secondary drive rod are horizontally disposed；The two side ends of main drive rod are equipped with the sliding projection 542 of evagination, each secondary drive
One side of the main drive rod of adjoining of lever is provided with center slide opening 544, and each sliding projection inserts a corresponding center slide opening and can
Reciprocatingly slided along the center slide opening.Namely main drive rod and two secondary drive rods form telescopic connection, so that horizontal
The integral level length of actuated lever assemblies also elongates or shortens therewith.
Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, and place is provided with and vertical in the bottom of vertical slide bar
The vertical screw 531 of stud portion adaptation, the top of vertical slide bar is provided with the connecting portion 532 being connected with main drive rod；The present embodiment
In, the connecting portion is the collar being set on main drive rod.When driven wheel of differential rotates, its vertical stud portion passes through spiral shell
Line type of drive drives corresponding vertical slide bar reciprocating rotation so that the vertical slide bar moves back and forth, and realizes and drives horizontal drive
Lever component rises or moved down.
（Application examples 1）
The application example is to use a kind of portable underwater robot made of above-described embodiment 1, as shown in Fig. 2 to Fig. 6, bag
Include body and supporting mechanism；Body includes housing 1 and the photographing module 2 being built in housing；Supporting mechanism includes folding landing leg 3
With stretching, extension drive mechanism 4；The quantity of folding landing leg is two and is arranged on housing both sides, and each folding landing leg is rolled over along plumb line direction
Folded stretching, extension；Drive mechanism is stretched while driving two folding landing legs along plumb line direction synchronous folding or stretching, extension, timing belt
It is closer to each other or remote to move two folding landing legs.
The bottom of housing is provided with transparent hemispherical observation window 11；Photographing module, which includes being built in housing, has driving
The cradle head mechanism 21 of motor 211, the camera 22 being arranged on cradle head mechanism and the illuminating lamp being arranged on cradle head mechanism（On figure
It is not drawn into）.Camera 22 is fixedly installed on the bottom of cradle head mechanism, the transparent wall body of camera face hemispherical observation window.
Each folding landing leg 3 includes being combined in the complex wrapping frame 31 formed and complex wrapping frame most by multiple X-frames 311
The connected V-arrangement gangbar 32 of an X-frame 311, the drive link 33, the mounting rod 34 that are connected with V-arrangement gangbar center of rotation above
And it is arranged on the support feet 35 below complex wrapping frame；
Each X-frame 311 is to be hinged and connected to be formed by respective middle part by two frame plates 30, in adjacent two X-frames,
The top of two frame plates of the bottom of two frame plates of an X-frame and a following X-frame is rotatedly connected above；
The wall body of housing opposite sides is provided with two horizontal slide openings 12, and each mounting rod 34 is to be slidably arranged in corresponding one
Housing is exposed in horizontal sliding bar in horizontal slide opening, the outer end of each mounting rod；Each uppermost X-frame of complex wrapping frame passes through
One pin rotation is arranged on a corresponding mounting rod, and in the application example, the pin is arranged on the outer of a corresponding mounting rod
At the center of end, two frame plates of the X-frame are around the pin rotation.This structure causes each mounting rod horizontal sliding at corresponding one
Reciprocatingly slided in the horizontal direction in hole.
V-arrangement gangbar is to be rotatedly connected to combine by the abutting end of two frame plates 30 to be formed, namely two framves of V-arrangement gangbar
The abutting end of plate forms hinged end；The top of two frame plates of one X-frame in the top and V-arrangement gangbar in each complex wrapping frame
In the bottoms of two frame plates be rotatedly connected；
Drive link is set along plumb line direction；The bottom of drive link and the hinged end of a corresponding V-arrangement gangbar rotate phase
Even, in the application example, the bottom of two frame plates and a corresponding drive link is hinged with what a bearing pin was realized in V-arrangement gangbar
It is connected.
Support feet is provided with horizontal-extending kidney-shaped slide opening 351, two of a bottom X-frame in each complex wrapping frame
Frame plate, the bottom of one of frame plate and support feet are rotatedly connected, and the bottom of another frame plate is provided with level to rolling bearing pin
352, the rolling bearing pin 352 is located in a corresponding kidney-shaped slide opening；When the complex wrapping frame stretches or folds, bearing pin edge is rolled
Kidney-shaped slide opening slides.
In order to increase by the intensity and stability of two folding landing legs, two enhancing connection rod sets are additionally provided between two support feets
Part 36.Each enhancing link assembly includes the first connecting rod 361 being fixedly installed in a support feet and is fixedly installed on another
Second connecting rod 363 in support feet, first connecting rod are provided with slide opening portion, and second connecting rod is provided with traveller portion 364, the traveller of second connecting rod
Portion is located in the slide opening portion of first connecting rod.When this structure causes two folding landing legs away from each other, the traveller portion of second connecting rod is still
In the slide opening of first connecting rod, namely cause it is each enhancing link assembly in first connecting rod and second connecting rod formed it is telescopic
Connection, to adapt to the away from each other and close of two folding landing legs.
Stretching drive mechanism 4 includes a stretching, extension motor 41 and two transmission components 5, and stretching, extension motor passes through two
Individual two drive links 33 of transmission component synchronous drive move back and forth along plumb line direction, are folded so as to realize to fold or deploy two
Supporting leg.
Stretching, extension motor 41 is a double shaft-protruding type motor, and the both ends of its drive shaft 411 are stretched out outside motor, so as to
Form two driving output shafts 412.
Each transmission component 5 includes drive bevel gear 51, driven wheel of differential 52, vertical slide bar 53 and horizontal drive bar assembly
54；
Drive bevel gear includes driving tooth wheel portion 511 and horizontal stud portion 512, driving tooth wheel portion are fixedly installed on corresponding one
On individual driving output shaft, and the reciprocating rotation on vertical guide；One side of each mounting rod close to stretching, extension motor is provided with and water
The horizontal screw 341 of flat stud portion adaptation, horizontal stud portion is located in the horizontal screw of a corresponding mounting rod；The application example
In, the driving tooth wheel portion of drive bevel gear and horizontal stud portion are made into integration, and both are synchronized with the movement；When drive bevel gear is extended
When motor drives, horizontal stud portion drives a corresponding mounting rod reciprocating rotation by screw drive mode so that the peace
Dress bar moves back and forth along horizontal slide opening, realizes that the both sides of two mounting rods towards housings elongate or shorten, so as to drive two foldings
Supporting leg is located remotely from each other or approached.
Case top is provided with two vertical sleeve pipes 13 with vertical slide opening 131, and the bottom of each vertical sleeve pipe is fixed with
One roller bearing 132；Each driven wheel of differential includes driven tooth wheel portion 521, installation portion 522 and vertical stud portion 523；Driven tooth wheel portion exists
Reciprocating rotation on horizontal plane, installation position is in the bottom in vertical stud portion and in a corresponding roller bearing；In the application example,
Driven tooth wheel portion, installation portion and the vertical stud portion of each driven wheel of differential are made into integration.When each drive bevel gear rotates, phase is driven
A driven wheel of differential is answered to rotate, namely the corresponding driven tooth wheel portion of synchronous drive and vertical stud portion synchronous axial system.
In the application example, the outboard end of each horizontal slide opening and vertical slide opening is equipped with waterproof seal ring, so as to prevent liquid
Entered through slide opening in housing.
Horizontal drive bar assembly includes main drive rod 541 and two secondary drive rods 543 positioned at main drive rod both sides, main drive
Lever and secondary drive rod are horizontally disposed, and the outboard end of each secondary drive rod passes through pin and a corresponding drive link phase
Even；The two side ends of main drive rod are equipped with the sliding projection 542 of evagination, and a side of the main drive rod of adjoining of each secondary drive rod is set
There is center slide opening 544, each sliding projection inserts a corresponding center slide opening and can reciprocatingly slided along the center slide opening.Namely main drive
Lever and two secondary drive rods form telescopic connection.When the both sides of two mounting rods towards housings elongate or shorten, by
It can be reciprocatingly slided in the sliding projection of main drive rod along the center slide opening of secondary drive rod, so that horizontal drive bar assembly is whole
Body horizontal length also elongates or shortens therewith.In the application example, horizontal drive bar assembly is located at the surface of housing.
Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, and place is provided with and vertical in the bottom of vertical slide bar
The vertical screw 531 of stud portion adaptation, the top of vertical slide bar is provided with the connecting portion 532 being connected with main drive rod；The application example
In, the connecting portion is the collar being set on main drive rod.When driven wheel of differential rotates, its vertical stud portion passes through spiral shell
Line type of drive drives corresponding vertical slide bar reciprocating rotation so that the vertical slide bar moves back and forth along vertical slide opening, realizes
Horizontal drive bar assembly is driven to rise or move down, and then the drive link 33 in Foldable supporting leg.
In the application example, the drive bevel gear of stretching, extension motor synchronous drive two and two driven wheel of differential synchronous axial systems, two
Individual horizontal stud portion drives two mounting rods synchronously overhanging or inside contract along horizontal slide opening, and then passes through folding landing leg and drive two pairs
Drive rod is overhanging or inside contracts so that the distance between two folding landing legs increased or decrease；When the spacing increase of two folding landing legs,
It is overall relatively stable, it is not easy to rock；When the spacing of two folding landing legs reduces, overall space-consuming reduces, and is easy to carry.
Two vertical stud portions drive two vertical slide bars and horizontal drive bar assembly to move up or decline, and then drive each folding
Drive link in folded supporting leg is moved up or declined；When drive link is moved up or declined, the V-arrangement gangbar of Foldable supporting leg, due to each
The X-frame of the top one of folding landing leg is arranged on mounting rod, thus whole folding landing leg with V-arrangement gangbar stretching or
Compress and stretch or fold up；When folding landing leg full extension, support feet is displaced downwardly to more than housing bottom, so as to by housing
Support so that hemispherical observation window can be higher by underwater mud face；When folding landing leg is folded, overall space-consuming compared with
It is small, it is easy to carry about with one.
Obviously, above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and
It is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, in described above
On the basis of can also make other changes in different forms.There is no need and unable to give all embodiments
It is exhaustive.And these belong to the obvious changes or variations that connotation of the present utility model is extended out and still fall within this practicality
New protection domain.
Claims (1)
1. a kind of stretching, extension drive mechanism for robot, including stretching, extension motor and two transmission components；It is characterized in that：
Each transmission component includes drive bevel gear, driven wheel of differential, vertical slide bar and horizontal drive bar assembly；
Drive bevel gear includes driving tooth wheel portion and horizontal stud portion, and driving tooth wheel portion is fixedly installed on corresponding driving output
On axle, and the reciprocating rotation on vertical guide；
Each driven wheel of differential includes driven tooth wheel portion, installation portion and vertical stud portion；Driven tooth wheel portion reciprocating rotary in the horizontal plane
It is dynamic；
Horizontal drive bar assembly includes main drive rod and two secondary drive rods positioned at main drive rod both sides, main drive rod and secondary drive
Lever is horizontally disposed；The two side ends of main drive rod are equipped with the sliding projection of evagination, the adjacent master of each secondary drive rod
One side of drive rod is provided with center slide opening, and each sliding projection inserts a corresponding center slide opening and can be reciprocal along the center slide opening
Slide；
Vertical slide bar is located in the vertical slide opening of a corresponding vertical sleeve pipe, and place is provided with and vertical stud in the bottom of vertical slide bar
The vertical screw of portion's adaptation, the top of vertical slide bar is provided with the connecting portion being connected with main drive rod；
The driving tooth wheel portion of drive bevel gear and horizontal stud portion are made into integration, the driven tooth wheel portion of each driven wheel of differential, installation
Portion and vertical stud portion are made into integration；Connecting portion is the collar being set on main drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720936011.XU CN207208420U (en) | 2017-07-30 | 2017-07-30 | A kind of stretching, extension drive mechanism for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720936011.XU CN207208420U (en) | 2017-07-30 | 2017-07-30 | A kind of stretching, extension drive mechanism for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207208420U true CN207208420U (en) | 2018-04-10 |
Family
ID=61814640
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720936011.XU Expired - Fee Related CN207208420U (en) | 2017-07-30 | 2017-07-30 | A kind of stretching, extension drive mechanism for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207208420U (en) |
-
2017
- 2017-07-30 CN CN201720936011.XU patent/CN207208420U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107214733A (en) | A kind of stretching, extension drive mechanism for robot | |
| CN207208420U (en) | A kind of stretching, extension drive mechanism for robot | |
| CN107352000B (en) | A kind of collapsible underwater robot of lifting type | |
| CN107352004B (en) | A kind of synchronous folding or the underwater robot for stretching two folding landing legs | |
| CN207206406U (en) | A kind of stretching, extension drive mechanism for robot | |
| CN207208418U (en) | A kind of collapsible underwater robot of lifting type | |
| CN207208419U (en) | The portable underwater robot of Area of bearing can be changed | |
| CN107352001B (en) | A kind of portable underwater robot that can change bearing area | |
| CN207208417U (en) | A kind of portable underwater robot that can change Area of bearing | |
| CN207643138U (en) | A kind of portable robot with photographing module | |
| CN107352002B (en) | A kind of portable robot | |
| CN207208416U (en) | Synchronous folding or the underwater robot for stretching two folding landing legs | |
| CN207225627U (en) | The collapsible underwater robot of lifting type | |
| CN107398890A (en) | A kind of folding landing leg for robot | |
| CN204653180U (en) | A kind of bilayer connects the puggaree length compensation mechanism of a multispan greenhouse | |
| CN207208414U (en) | A kind of portable robot that itself can be supportted from the ground | |
| CN207884427U (en) | A kind of driven gear for robot | |
| CN107444588B (en) | A kind of portable robot that itself can be supportted from the ground | |
| CN107214691A (en) | A kind of stretching, extension drive mechanism for robot | |
| CN107434017B (en) | A kind of portable robot | |
| CN107448583A (en) | A kind of driven gear for robot | |
| CN217925080U (en) | Novel municipal administration building structure | |
| CN206294247U (en) | Folding multi-angle degree video presenter | |
| CN109990165A (en) | A kind of pipe robot support arm synchronous drive device with adaptation function | |
| CN104943761B (en) | A kind of earthquake rescue robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180410 Termination date: 20180730 |